Concrete trowelling robot for track pouring

Abstract

The concrete trowelling robot for track pouring relates to the technical field of building robots and comprises a machine body, two baffles are symmetrically installed on one side of the machine body, extrusion grooves are formed in the lower portions of the two baffles, and transmission rods are rotationally installed on the upper portions of the two baffles; a plurality of extrusion cams are uniformly mounted on the transmission rod, a movable plate is slidably mounted in the extrusion groove, the movable plate is connected with the extrusion groove through a supporting spring, a connecting plate is mounted on the movable plate, a vibrating plate is mounted on the connecting plate, and a driving motor is mounted on the machine body. A first driving wheel is installed on a conveying shaft of the driving motor, a first driven wheel is installed at the end, close to the driving motor, of the transmission rod, and the first driving wheel and the first driven wheel are sleeved with a first transmission belt. And the vibrating plate periodically slides back and forth under the elastic support of the support spring to drive the vibrating plate to move.

Description

Technical Field

[0001] The invention relates to the technical field of construction robots, in particular to a concrete leveling robot for track casting. Background Art

[0002] In the field of railway construction, the application of robotics technology is regarded as an important way to achieve intelligent railway construction. Robotics technology has been used in certain processes of railway manufacturing, construction, operation and maintenance at home and abroad, including track laying robots, road and station assembly robots, pipeline excavation robots, etc. With the advancement of science and technology, these robots will play a greater role in future engineering construction.

[0003] Existing concrete trowels are often inadequate for track casting projects and cannot meet the stringent requirements for concrete trowels in specific areas. These devices are usually designed for conventional flat surfaces or simple structures, which require more precise and flexible trowels to ensure the quality and uniformity of concrete laying. Summary of the invention

[0004] The purpose of the present invention is to provide a concrete leveling robot for track casting to solve the problems raised in the prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a concrete smoothing robot for track casting, the concrete smoothing robot for track casting comprises a body, two baffles are symmetrically installed on one side of the body, extrusion grooves are opened at the lower parts of the two baffles, and transmission rods are rotatably installed at the upper parts of the two baffles, a plurality of extrusion cams are evenly installed on the transmission rods, a movable plate is slidably installed in the extrusion groove, the movable plate is connected to the extrusion groove by a supporting spring, a connecting plate is installed on the movable plate, a vibrating plate is installed on the connecting plate, a driving motor is installed on the body, a driving wheel is installed on the conveying shaft of the driving motor, and the transmission A driven wheel 1 is installed at the end of the moving rod near the driving motor, and a transmission belt 1 is provided on the driving wheel 1 and the driven wheel 1. When it is necessary to start the smoothing operation, the driving motor is started, and the driving wheel 1 on the output end of the driving motor starts to rotate, and the driven wheel 1 is driven to rotate through the transmission belt 1, so that the transmission rod rotates and drives multiple extrusion cams to start rotating, so that the movable plate slides inside the extrusion groove and performs periodic reciprocating sliding under the support of the elastic force of the supporting spring, and then the periodic sliding is transmitted to the vibrating plate through the connecting plate, so that the vibrating plate compacts the concrete laid in the track to avoid the formation of honeycomb structure, improve the paving quality, and also perform the initial smoothing of the concrete pavement.

[0006] As an optimal technical solution, a plurality of grooves are provided on the upper surface of the movable plate, in which balls are rollingly embedded. The balls are in point contact with the outer contour of the extrusion cam, and the friction between the extrusion cam and the movable plate is reduced by embedding the balls in the grooves.

[0007] As a preferred technical solution, the machine body is provided with a driving component, a smoothing component and a smoothing detection component, and the operation of the driving component provides operating driving force for the smoothing component and the smoothing detection component.

[0008] As a preferred technical solution, the driving assembly includes a second driving wheel, a second driven wheel, a transmission shaft, a second transmission belt, a transmission gear, a rotating gear, a meshing gear, a chain and a rotating shaft;

[0009] A second driving wheel is also installed on the output shaft of the driving motor, and a transmission shaft is rotatably installed on one side of the body close to the driving motor, a second driven wheel is installed on one end of the transmission shaft close to the driving motor, and a transmission gear is installed on the other end of the transmission shaft, and a transmission belt is provided on the second driving wheel and the second driven wheel. Two rotating shafts are symmetrically installed inside the body for rotation, and a rotating gear is installed on one of the rotating shafts close to the transmission gear, and the transmission gear is meshed with the rotating gear. Meshing gears are installed on the ends of the two rotating shafts away from the body, and chains are provided on the two meshing gears. When the second driving wheel at the output end of the driving motor rotates, the transmission shaft is driven to rotate through the second transmission belt, so that the transmission gear rotates and drives the rotating gear meshing with it to rotate, so that the meshing gear drives the chain to move periodically.

[0010] As a preferred technical solution, the trowel assembly includes a movable curved rod, a horizontal plate, a slide groove, a movable hole, a sliding plate and a trowel plate;

[0011] A movable curved rod is installed on the chain, a horizontal plate is fixedly installed in the body, a sliding groove is provided on the side of the horizontal plate close to the chain, a sliding plate is slidably installed in the sliding groove, a movable hole is provided on the sliding plate, the movable curved rod is connected to the movable hole, and a trowel plate is installed below the sliding plate. When the chain moves, the movable curved rod is driven to perform periodic reciprocating movement, so that the sliding plate connected to it slides periodically back and forth in the sliding groove, and drives the trowel plate to perform periodic movement to perform secondary smoothing on the concrete below.

[0012] As a preferred technical solution, a protrusion is installed on the movable bent rod, and the protrusion is rotatably engaged in the movable hole. The length of the rotating part composed of the movable bent rod, the protrusion and the movable hole is equal to the distance from the center of the meshing gear to the chain. When the chain drives the movable bent rod to move to the arc area of ​​the meshing gear, the movable bent rod can be prevented from getting stuck, thereby ensuring the stability of the sliding plate.

[0013] As a preferred technical solution, the smoothing detection assembly includes an extrusion plate, a storage airbag, a limiting flat rod, an air pipe 1, an air pipe 2, a detection hole, a telescopic airbag, a reset spring, a moving block, a connecting rod, a connecting block and a smoothing detector;

[0014] A detection hole is provided on the side of the body away from the baffle, an extrusion plate is installed on the upper part of the side of the sliding plate away from the chain, a limiting groove is provided on one side of the inner top of the body, a limiting flat rod is slidably installed in the limiting groove, the limiting flat rod is connected to the body through a storage airbag, two moving blocks are slidably installed in the detection hole, the opposite surfaces of the two moving blocks are connected by a reset spring, the opposite back surfaces of the two moving blocks are connected to the detection hole through a telescopic airbag, the telescopic airbag is connected to the storage airbag through an air pipe, the output end of the storage airbag is connected to the input end of the telescopic airbag through air pipe one, the output end of the telescopic airbag is connected to the input end of the storage airbag through air pipe two, the air pipe one A one-way valve is arranged inside, an opening valve is arranged in the air pipe 2, connecting rods are installed on the two moving blocks, connecting blocks are installed on the two connecting rods, and a smoothing detector is installed on the connecting block. The two ends of the connecting rod are hinged to the moving block and the connecting block respectively. When the sliding plate moves, the extrusion plate can be driven to move, thereby squeezing the storage airbag. The air pipe 1 through which the gas inside the storage airbag passes enters into the two telescopic airbags. The telescopic airbags are elongated under the action of the entering gas. The elongated telescopic airbags push the two moving blocks closer to each other, squeeze the reset spring, reduce the angle between the two connecting rods, and push out the connecting block hinged thereto, so that the smoothing detector installed on the connecting block is extended to monitor the smoothing condition.

[0015] As an optimal technical solution, a leveling hole is provided at the bottom of the body, the sliding plate passes through the leveling hole to connect to the leveling plate, the storage airbag is initially in an expanded state, the opening valve installed in the second air pipe is electrically connected to the drive motor, and the storage airbag is initially filled with gas. The storage airbag is initially filled with gas, and when squeezed, the gas can pass through the first air pipe into the two telescopic airbags, and the opening valve is in a normally closed state. When the drive motor stops running, the opening valve receives an opening command, and at this time, the two moving blocks move opposite to each other under the elastic force of the reset spring, so that the gas inside the telescopic airbag is squeezed into the storage airbag through the second air pipe, thereby realizing the reflux of the gas.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention sets a vibrating plate. When the driving motor is running, the driving wheel rotates and drives the transmission rod to rotate through the transmission belt, so that the multiple extrusion cams rotate. Under the action of the extrusion cams, the sliding plate slides and performs periodic reciprocating motion under the support of the supporting spring. The motion is transmitted to the vibrating plate through the connecting plate, so that the vibrating plate vibrates the concrete to avoid the formation of a honeycomb structure. At the same time, the concrete can also be initially smoothed, thereby improving the smoothing efficiency and ensuring the construction quality.

[0018] 2. When the sliding plate of the present invention moves, the extrusion plate squeezes the airbag and allows the gas to enter the telescopic airbag, causing the telescopic airbag to extend and drive the two moving blocks to move closer to each other, driving the connecting rod to push the connecting block out, and the road surface smoothing condition is monitored in real time by the smoothing detector installed on the connecting block to ensure the construction quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of the present invention from a first viewing angle;

[0020] Figure 2 is a schematic diagram of the structure of the present invention from a second viewing angle;

[0021] Figure 3 It is a third perspective structural schematic diagram of the present invention;

[0022] Figure 4 is a first cross-sectional structural schematic diagram of the present invention;

[0023] Figure 5 is a second cross-sectional structural schematic diagram of the present invention;

[0024] Figure 6 It is a schematic diagram of the structure of the driving assembly of the present invention;

[0025] Figure 7 yes Figure 1 A in the figure is an enlarged structural diagram.

[0026] In the figure: 1, machine body; 2, baffle; 3, extrusion groove; 4, transmission rod; 5, extrusion cam; 6, movable plate; 7, connecting plate; 8, vibrating plate; 9, supporting spring; 10, driving assembly; 1001, driving motor; 1002, driving wheel 1; 1003, driving wheel 2; 1004, driven wheel 1; 1005, driven wheel 2; 1006, transmission shaft; 1007, transmission belt 1; 1008, transmission belt 2; 1009, transmission gear; 1010, rotating gear; 1011, meshing gear; 1012, chain; 1013, Rotating shaft; 11. Smoothing assembly; 1101. Moving curved rod; 1102. Horizontal plate; 1103. Slide groove; 1104. Movable hole; 1105. Sliding plate; 1106. Smoothing plate; 12. Smoothing detection assembly; 1201. Extrusion plate; 1202. Storage airbag; 1203. Limiting flat bar; 1204. Air pipe one; 1205. Air pipe two; 1207. Detection hole; 1208. Telescopic airbag; 1209. Return spring; 1210. Moving block; 1211. Connecting rod; 1212. Connecting block; 1213. Smoothing detector. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Example: Figure 1-Figure 5 and Figure 7As shown, the present invention provides a technical solution, a concrete smoothing robot for track casting, characterized in that: the concrete smoothing robot for track casting comprises a body 1, two baffles 2 are symmetrically installed on one side of the body 1, extrusion grooves 3 are opened at the lower parts of the two baffles 2, and transmission rods 4 are rotatably installed on the upper parts of the two baffles 2, and a plurality of extrusion cams 5 are evenly installed on the transmission rod 4, a movable plate 6 is slidably installed in the extrusion groove 3, the movable plate 6 is connected to the extrusion groove 3 by a supporting spring 9, a connecting plate 7 is installed on the movable plate 6, and a vibrating plate 8 is installed on the connecting plate 7, a driving motor 1001 is installed on the body 1, a driving wheel 1002 is installed on the conveying shaft of the driving motor 1001, and the transmission rod 4 is close to the driving motor A driven wheel 1004 is installed at the end of the machine 1001, and a transmission belt 1007 is provided on the driving wheel 1002 and the driven wheel 1004. When it is necessary to start the smoothing operation, the driving motor 1001 is started, and the driving wheel 1002 on the output end of the driving motor 1001 starts to rotate, and the driven wheel 1004 is driven to rotate through the transmission belt 1007, so that the transmission rod 4 rotates and drives multiple extrusion cams 5 to start rotating, so that the movable plate 6 slides inside the extrusion groove 3, and performs periodic reciprocating sliding under the elastic support of the support spring 9, and then the periodic sliding is transmitted to the vibrating plate 8 through the connecting plate 7, so that the vibrating plate 8 compacts the concrete laid in the track to avoid the formation of a honeycomb structure, improve the laying quality, and also perform the initial smoothing of the concrete pavement.

[0029] The upper surface of the movable plate 6 is provided with a plurality of grooves, in which balls are rollingly embedded. The balls are in point contact with the outer contour of the extrusion cam 5 , and the friction when the extrusion cam 5 and the movable plate 6 are in contact is reduced by embedding the balls in the grooves.

[0030] The machine body 1 is provided with a driving component 10 , a smoothing component 11 and a smoothing detection component 12 , and the operation of the driving component 10 provides the smoothing component 11 and the smoothing detection component 12 with operating driving force.

[0031] like Figure 1-Figure 6 As shown, the driving assembly 10 includes a second driving wheel 1003, a second driven wheel 1005, a transmission shaft 1006, a second transmission belt 1008, a transmission gear 1009, a rotating gear 1010, a meshing gear 1011, a chain 1012 and a rotating shaft 1013;

[0032] The output shaft of the driving motor 1001 is also provided with a second driving wheel 1003. A transmission shaft 1006 is rotatably provided on one side of the machine body 1 close to the driving motor 1001. A second driven wheel 1005 is provided on one end of the transmission shaft 1006 close to the driving motor 1001, and a transmission gear 1009 is provided on the other end of the transmission shaft 1006. A transmission belt 1008 is sleeved on the second driving wheel 1003 and the second driven wheel 1005. Two rotating shafts 1013 are symmetrically rotatably provided inside the machine body 1. One of the rotating shafts 1013 close to the transmission gear 1009 is provided with a second driven wheel 1005. 13 is provided with a rotating gear 1010, the transmission gear 1009 is meshed with the rotating gear 1010, and the ends of the two rotating shafts 1013 away from the body 1 are provided with meshing gears 1011, and the two meshing gears 1011 are sleeved with chains 1012. When the driving wheel 1003 at the output end of the driving motor 1001 rotates, the transmission shaft 1006 is driven to rotate through the transmission belt 1008, so that the transmission gear 1009 rotates and drives the rotating gear 1010 meshed therewith to rotate, so that the meshing gear 1011 drives the chain 1012 to move periodically.

[0033] like Figure 3-Figure 6 As shown, the trowel assembly 11 includes a movable curved rod 1101, a horizontal plate 1102, a slide groove 1103, a movable hole 1104, a sliding plate 1105 and a trowel plate 1106; the movable curved rod 1101 is installed on the chain 1012, the horizontal plate 1102 is fixedly installed in the body 1, the horizontal plate 1102 is provided with a slide groove 1103 on one side close to the chain 1012, and the sliding plate 1105 is slidably installed in the slide groove 1103, The sliding plate 1105 is provided with a movable hole 1104, and the movable curved rod 1101 is connected to the movable hole 1104. A trowel plate 1106 is installed below the sliding plate 1105. When the chain 1012 moves, it drives the movable curved rod 1101 to perform periodic reciprocating movement, so that the sliding plate 1105 connected thereto slides periodically back and forth in the slide groove 1103, and drives the trowel plate 1106 to perform periodic movement to perform secondary smoothing on the concrete below.

[0034] A protrusion is installed on the movable curved rod 1101, and the protrusion is rotatably engaged in the movable hole 1104. The length of the rotating part composed of the movable curved rod 1101, the protrusion and the movable hole 1104 is equal to the distance from the center of the meshing gear 1011 to the chain 1012. When the chain 1012 drives the movable curved rod 1101 to move to the arc area of ​​the meshing gear 1011, the movable curved rod 1101 can be prevented from getting stuck, thereby ensuring the stability of the operation of the sliding plate 1105.

[0035] like Figure 3-Figure 5As shown, the smoothing detection assembly 12 includes an extrusion plate 1201, a storage airbag 1202, a limiting flat rod 1203, an air pipe 1204, an air pipe 2 1205, a detection hole 1207, a telescopic airbag 1208, a return spring 1209, a moving block 1210, a connecting rod 1211, a connecting block 1212 and a smoothing detector 1213;

[0036] A detection hole 1207 is provided on the side of the machine body 1 away from the baffle 2, an extrusion plate 1201 is installed on the upper part of the side of the sliding plate 1105 away from the chain 1012, a limiting groove is provided on the inner top side of the machine body 1, a limiting flat rod 1203 is slidably installed in the limiting groove, and the limiting flat rod 1203 is connected to the machine body 1 through a storage air bag 1202, and two moving blocks 1210 are slidably installed in the detection hole 1207, and the opposite surfaces of the two moving blocks 1210 are connected. The two movable blocks 1210 are connected to the detection hole 1207 through the retractable airbag 1208, and the retractable airbag 1208 is connected to the storage airbag 1202 through the air pipe 1206. The output end of the storage airbag 1202 is connected to the input end of the retractable airbag 1208 through the air pipe 1204, and the output end of the retractable airbag 1208 is connected to the input end of the storage airbag 1202 through the air pipe 1205. A one-way valve is provided in 204, an opening valve is provided in the air pipe 1205, connecting rods 1211 are installed on the two moving blocks 1210, connecting blocks 1212 are installed on the two connecting rods 1211, and a leveling detector 1213 is installed on the connecting block 1212. The two ends of the connecting rod 1211 are respectively hinged to the moving block 1210 and the connecting block 1212. When the sliding plate 1105 moves, the extrusion plate 1201 can be driven to move, thereby squeezing the storage airbag 12 02. The gas inside the storage airbag 1202 passes through the air pipe 1204 and enters into the two telescopic airbags 1208. The telescopic airbags 1208 are extended under the action of the entering gas. The extended telescopic airbags 1208 push the two moving blocks 1210 to approach each other and squeeze the reset spring 1209, so that the angle between the two connecting rods 1211 is reduced and the connecting block 1212 hinged thereto is pushed out, so that the leveling detector 1213 installed on the connecting block 1212 is extended to monitor the leveling condition.

[0037] like Figure 1-Figure 3As shown, a leveling hole is provided at the bottom of the body 1, and the sliding plate 1105 passes through the leveling hole to connect to the leveling plate 1106. The storage airbag 1202 is initially in an expanded state, and the opening valve installed in the air pipe 1205 is electrically connected to the drive motor 1001. The storage airbag 1202 is initially filled with gas, and when squeezed, the gas can enter the two telescopic airbags 1208 through the air pipe 1 1204, and the opening valve is in a normally closed state. When the drive motor 1001 stops running, the opening valve receives an opening command. At this time, the two moving blocks 1210 move opposite to each other under the elastic force of the return spring, so that the gas inside the telescopic airbag 1208 is squeezed into the storage airbag 1202 through the air pipe 1205, thereby realizing the reflux of the gas.

[0038] The working principle of the present invention is as follows: first, when it is necessary to smooth the concrete poured in the track, start the driving motor 1001, and the driving wheel 1 1002 and the driving wheel 2 1003 on the output end of the driving motor 1001 rotate, and the driven wheel 1 1004 rotates through the transmission belt 1007, so that the transmission rod 4 rotates to drive multiple extrusion cams 5 to rotate, and the extrusion cam 5 squeezes the movable plate 6 to slide in the extrusion groove 3, and performs periodic reciprocating motion under the support force of the support spring 9, and the reciprocating sliding is transmitted to the vibrating plate 8 through the connecting plate 7, and the vibrating plate 8 is used to vibrate and compact the concrete to avoid the formation of a honeycomb structure in the concrete, and at the same time, the concrete is smoothed for the first time.

[0039] Secondly, the driving motor 1001 drives the second active wheel to rotate 1003, and drives the second driven wheel 1005 to rotate through the second transmission belt 1008, thereby driving the transmission shaft 1006 and the transmission gear 1009 to rotate, the rotating gear 1010 rotates, the rotating shaft 1013 rotates and then drives the meshing gear 1011 to rotate, and the chain 1012 starts to move. At this time, the moving curved rod 1101 installed on the chain 1012 moves with the chain 1012, and drives the sliding plate 1105 to slide in the slide groove 1103 of the horizontal plate 1102, and drives the trowel plate 1106 below to smooth the concrete for the second time, thereby improving the smoothing effect and ensuring the construction quality.

[0040] Finally, when the sliding plate 1105 moves, the squeezing plate 1201 can be driven to move, thereby squeezing the storage airbag 1202, so that the gas in the storage airbag 1202 enters the two telescopic airbags 1208 through the air pipe 1204. The telescopic airbags 1208 are expanded and extended under the action of the entering gas, and the extended telescopic airbags 1208 drive the two moving blocks 1210 to approach each other, thereby squeezing the return spring 1209, so that the angle between the two connecting rods 1211 becomes smaller, and the connecting block 1212 is moved closer to each other. Ejection, at this time, the leveling detector 1213 installed on the connecting block 1212 extends out to monitor the concrete leveling situation in real time to ensure the construction quality. When the construction is completed, the driving motor 1001 stops running, and the opening valve electrically connected to the driving motor 1001 opens. The internal gas of the two telescopic airbags 1208 returns to the storage airbag 1202 through the air pipe 1205 under the elastic reset of the reset spring 1209, and the storage airbag 1202 is inflated to prepare for the next work.

[0041] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A concrete leveling robot for track casting, characterized in that: The track casting concrete trowel robot comprises a body (1), one side of the body (1) is symmetrically provided with two baffles (2), the lower parts of the two baffles (2) are provided with extrusion grooves (3), and the upper parts of the two baffles (2) are rotatably provided with transmission rods (4), the transmission rods (4) are evenly provided with a plurality of extrusion cams (5), a movable plate (6) is slidably provided in the extrusion groove (3), the movable plate (6) is connected to the extrusion groove (3) via a support spring (9), and the movable plate (6) is slidably provided in the extrusion groove (3), and the movable plate (6) is connected to the extrusion groove (3) via a support spring (9). The movable plate (6) is provided with a connecting plate (7), the connecting plate (7) is provided with a vibrating plate (8), the machine body (1) is provided with a driving motor (1001), a driving wheel (1002) is provided on the conveying shaft of the driving motor (1001), a driven wheel (1004) is provided at the end of the transmission rod (4) close to the driving motor (1001), and a transmission belt (1007) is sleeved on the driving wheel (1002) and the driven wheel (1004).

2. A concrete trowel robot for track casting according to claim 1, characterized in that: The upper surface of the movable plate (6) is provided with a plurality of grooves, in which balls are rollingly embedded, and the balls are in point contact with the outer contour of the extrusion cam (5).

3. The concrete trowel robot for track casting according to claim 1, characterized in that: The machine body (1) is provided with a driving component (10), a smoothing component (11) and a smoothing detection component (12), and the operation of the driving component (10) provides operating driving force for the smoothing component (11) and the smoothing detection component (12).

4. A concrete trowel robot for track casting according to claim 3, characterized in that: The driving assembly (10) comprises a second driving wheel (1003), a second driven wheel (1005), a transmission shaft (1006), a second transmission belt (1008), a transmission gear (1009), a rotating gear (1010), a meshing gear (1011), a chain (1012) and a rotating shaft (1013); A second driving wheel (1003) is also mounted on the output shaft of the driving motor (1001); a transmission shaft (1006) is rotatably mounted on a side of the machine body (1) close to the driving motor (1001); a second driven wheel (1005) is mounted on one end of the transmission shaft (1006) close to the driving motor (1001); a transmission gear (1009) is mounted on the other end of the transmission shaft (1006); and a transmission belt (1009) is sleeved on the second driving wheel (1003) and the second driven wheel (1005). (1008), two rotating shafts (1013) are symmetrically mounted inside the machine body (1), a rotating gear (1010) is mounted on one of the rotating shafts (1013) close to the transmission gear (1009), the transmission gear (1009) is meshed with the rotating gear (1010), and meshing gears (1011) are mounted on the ends of the two rotating shafts (1013) away from the machine body (1), and chains (1012) are sleeved on the two meshing gears (1011).

5. A concrete trowel robot for track casting according to claim 4, characterized in that: The smoothing assembly (11) comprises a movable curved rod (1101), a horizontal plate (1102), a sliding groove (1103), a movable hole (1104), a sliding plate (1105) and a smoothing plate (1106); A movable curved rod (1101) is installed on the chain (1012), a transverse plate (1102) is fixedly installed in the machine body (1), a sliding groove (1103) is provided on a side of the transverse plate (1102) close to the chain (1012), a sliding plate (1105) is slidably installed in the sliding groove (1103), a movable hole (1104) is provided on the sliding plate (1105), the movable curved rod (1101) is connected to the movable hole (1104), and a trowel plate (1106) is installed below the sliding plate (1105).

6. A concrete trowel robot for track casting according to claim 5, characterized in that: The movable curved rod (1101) is provided with a protrusion, which is rotatably engaged in the movable hole (1104). The length of the rotating member composed of the movable curved rod (1101), the protrusion and the movable hole (1104) is equal to the distance from the center of the meshing gear (1011) to the chain (1012).

7. A concrete trowel robot for track casting according to claim 5, characterized in that: The smoothing detection assembly (12) comprises an extrusion plate (1201), a storage airbag (1202), a limiting flat rod (1203), an air pipe 1 (1204), an air pipe 2 (1205), a detection hole (1207), a telescopic airbag (1208), a return spring (1209), a moving block (1210), a connecting rod (1211), a connecting block (1212) and a smoothing detector (1213); A detection hole (1207) is provided on the side of the machine body (1) away from the baffle (2); an extrusion plate (1201) is installed on the upper part of the side of the sliding plate (1105) away from the chain (1012); a limiting groove is provided on one side of the inner top of the machine body (1); a limiting flat bar (1203) is slidably installed in the limiting groove; the limiting flat bar (1203) is connected to the machine body (1) via a storage air bag (1202); two moving blocks (1210) are slidably installed in the detection hole (1207); the opposite surfaces of the two moving blocks (1210) are connected via a return spring (1209); the opposite back surfaces of the two moving blocks (1210) are connected to the detection hole (1207) via a telescopic air bag (1208); the telescopic air bag (1208) and the storage air bag are connected. (1202) are connected via an air pipe (1206), the output end of the storage air bag (1202) is connected to the input end of the telescopic air bag (1208) via an air pipe one (1204), the output end of the telescopic air bag (1208) is connected to the input end of the storage air bag (1202) via an air pipe two (1205), a one-way valve is arranged in the air pipe one (1204), an opening valve is arranged in the air pipe two (1205), a connecting rod (1211) is installed on the two moving blocks (1210), a connecting block (1212) is installed on the two connecting rods (1211), a smoothing detector (1213) is installed on the connecting block (1212), and the two ends of the connecting rod (1211) are respectively hinged to the moving block (1210) and the connecting block (1212).

8. A concrete trowel robot for track casting according to claim 7, characterized in that: A leveling hole is provided at the bottom of the machine body (1), the sliding plate (1105) passes through the leveling hole and is connected to the leveling plate (1106), the storage air bag (1202) is initially in an expanded state, and the opening valve installed in the air pipe (1205) is electrically connected to the driving motor (1001).

Images